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EgoInfinity (preview)
Derivative scene assets for a curated subset of Action100M (Meta FAIR) clips.
Preview — not for general release. Schema and contents may change.
License
FAIR Noncommercial Research License v1 (see LICENSE-Action100M). Noncommercial research only.
Built by the Rice RobotPI Lab.
Retarget
For 104 of the clips under samples/, we provide retargeting results on four
robot embodiments under samples/<clip>/retarget/<robot>/:
franka— Franka Panda (7-DoF arm + 1-DoF gripper)g1— Unitree G1 (7-DoF arm + 7-DoF hand)robonaut2— NASA Robonaut 2 (7-DoF arm + 18-DoF hand)xlerobot— XLeRobot (5-DoF arm + 1-DoF gripper)
Each <robot>/ folder contains:
| File | Description |
|---|---|
input_viz.mp4 |
Ego input visualization used by the retargeter |
robot_sim.mp4 |
Sim replay of the retargeted trajectory |
trajectory.npz |
Per-frame q_left, q_right, finger joints, joint names, fps, clip id |
torso_frames.npz |
Per-frame torso pose (R_per_frame, t_per_frame) plus anchor frame |
metrics.npz |
IK success rate, position/orientation error (per-frame, mean, converged-only), joint-limit margin, manipulability, roughness |
Per-clip frame counts range from 29 to 734; per-clip fps is recorded in
trajectory.npz (fps key) and is not uniform across clips.
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